version: 66.04
glider: 105
mission: 6
dive: 268
start: 8 12 109 14 24 58
data:
$ID,105
$MISSION,6
$DIVE,268
$D_SURF,3
$D_FLARE,4
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,550
$T_MISSION,580
$T_ABORT,1440
$T_TURN,300
$T_TURN_SAMPINT,5
$T_NO_W,320
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,11
$KALMAN_USE,2
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,61.599998
$TGT_DEFAULT_LON,-8.75
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-1632807.6
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,401
$PITCH_MAX,3705
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,253
$ROLL_MAX,3840
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,1454
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3851
$C_VBD,2832
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-18.439545
$PRESSURE_SLOPE,0.0001163108
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.8522969
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043067979
$SEABIRD_T_H,0.0006302988
$SEABIRD_T_I,2.3035876e-05
$SEABIRD_T_J,2.3016955e-06
$SEABIRD_C_G,-10.448573
$SEABIRD_C_H,1.1833477
$SEABIRD_C_I,-0.0016540284
$SEABIRD_C_J,0.00022965467
$GPS1,141831,6150.353,-927.312,42,1.1,42,-9.6
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-63.5
$GPS2,142438,6150.401,-927.244,13,1.3,13,-9.6
$SPEED_LIMITS,0.104,0.221
$TGT_NAME,AW
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.025,-0.238
$KALMAN_X,-160384.0,991.3,628.8,104309.0,-21.7
$KALMAN_Y,127308.9,-3266.1,-2239.5,-49887.2,54062.8
$MHEAD_RNG_PITCHd_Wd,166.3,61286,-11.0,-6.000
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.96,-146.6,0.0,0.0,0,78,0.00,0.00,-59.62,0.000,6,0.000,0.000,395,2238,3432
$GC,81,-0.96,-146.6,5.1,-9.9,3,102,11.65,2.50,0.00,0.000,4,0.133,0.038,2583,837,3433
$GC,404,-0.96,-146.6,42.3,-4.1,17,409,0.00,2.47,0.00,0.000,6,0.000,0.032,2583,2243,3434
$GC,726,-0.96,-146.6,53.7,-3.4,33,730,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3654,3435
$GC,792,-0.96,-146.6,56.3,-4.1,36,797,0.00,2.42,0.00,0.000,6,0.000,0.028,2583,2228,3435
$GC,1114,-0.96,-146.6,74.7,-6.9,52,1118,0.00,2.58,0.00,0.000,4,0.000,0.051,2583,3654,3436
$GC,1164,-0.96,-146.6,78.2,-7.0,54,1168,0.00,2.40,0.00,0.000,6,0.000,0.029,2583,2246,3436
$GC,1479,-0.96,-146.6,97.9,-6.8,69,1484,0.00,2.55,0.00,0.000,4,0.000,0.051,2583,3658,3436
$GC,1609,-0.96,-146.6,108.7,-8.5,75,1614,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2252,3436
$GC,1938,-0.96,-146.6,136.3,-8.8,91,1942,0.00,2.55,0.00,0.000,4,0.000,0.051,2583,3660,3436
$GC,2038,-0.96,-146.6,147.0,-10.5,95,2044,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2242,3436
$GC,2354,-0.96,-146.6,179.3,-10.4,111,2358,0.00,2.58,0.00,0.000,4,0.000,0.054,2583,3662,3436
$GC,2465,-0.96,-146.6,192.3,-11.4,116,2470,0.00,2.45,0.00,0.000,6,0.000,0.031,2583,2251,3435
$GC,2792,-0.96,-146.6,227.3,-10.8,132,2797,0.00,2.55,0.00,0.000,4,0.000,0.053,2583,3645,3435
$GC,2852,-0.96,-146.6,234.5,-11.8,134,2859,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2248,3435
$GC,3168,-0.96,-146.6,269.0,-10.9,150,3172,0.00,2.55,0.00,0.000,4,0.000,0.053,2584,3655,3435
$GC,3240,-0.96,-146.6,277.4,-11.7,153,3245,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2237,3435
$GC,3556,-0.96,-146.6,310.8,-10.2,168,3561,0.00,2.58,0.00,0.000,4,0.000,0.053,2583,3657,3435
$GC,3629,-0.96,-146.6,318.8,-11.1,171,3634,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2257,3434
$GC,3950,-0.96,-146.6,349.2,-9.1,187,3951,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2256,3434
$GC,4261,-0.96,-146.6,374.6,-7.7,202,4266,0.00,2.53,0.00,0.000,4,0.000,0.052,2583,3654,3434
$GC,4355,-0.96,-146.6,382.2,-7.6,206,4360,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2250,3434
$GC,4678,-0.96,-146.6,404.1,-6.7,222,4679,0.00,0.00,0.00,0.000,6,0.000,0.000,2583,2250,3433
$GC,4986,-0.96,-146.6,422.4,-5.6,237,4990,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3654,3433
$GC,5105,-0.96,-146.6,430.1,-6.4,242,5109,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2250,3433
$GC,5421,-0.96,-146.6,448.8,-6.1,257,5425,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,3653,3432
$GC,5477,-0.96,-146.6,452.7,-7.1,259,5483,0.00,2.40,0.00,0.000,6,0.000,0.031,2583,2251,3432
$GC,5794,-0.96,-146.6,471.3,-6.0,275,5798,0.00,2.55,0.00,0.000,4,0.000,0.053,2583,3660,3432
$GC,5851,-0.96,-146.6,474.7,-5.8,277,5858,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2248,3431
$GC,6166,-0.96,-146.6,490.1,-4.5,293,6171,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3658,3431
$GC,6256,-0.96,-146.6,494.8,-6.0,297,6260,0.00,2.42,0.00,0.000,6,0.000,0.032,2583,2249,3431
$GC,6577,-0.96,-146.6,512.3,-6.0,313,6581,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3654,3431
$GC,6648,-0.96,-146.6,517.2,-6.5,316,6653,0.00,2.42,0.00,0.000,6,0.000,0.031,2583,2241,3431
$GC,6965,-0.96,-146.6,535.0,-5.8,331,6970,0.00,2.60,0.00,0.000,4,0.000,0.055,2583,3654,3430
$GC,7016,-0.96,-146.6,538.2,-6.8,333,7020,0.00,2.40,0.00,0.000,6,0.000,0.032,2583,2252,3430
$GC,7337,-0.96,-146.6,556.5,-5.8,349,7342,0.00,2.58,0.00,0.000,4,0.000,0.054,2583,3653,3430
$GC,7398,-0.96,-146.6,560.3,-6.0,351,7404,0.00,2.40,0.00,0.000,6,0.000,0.032,2583,2251,3430
$GC,7717,-0.96,-146.6,577.4,-5.6,367,7721,0.00,2.53,0.00,0.000,4,0.000,0.053,2583,3652,3430
$GC,7779,-0.96,-146.6,581.7,-7.3,370,7784,0.00,2.40,0.00,0.000,6,0.000,0.032,2583,2251,3430
$GC,8107,-0.96,-146.6,603.7,-5.8,386,8111,0.00,2.53,0.00,0.000,4,0.000,0.054,2583,3655,3430
$GC,8296,-0.96,-146.6,618.1,-8.0,394,8303,0.00,2.42,0.00,0.000,6,0.000,0.032,2583,2238,3430
$GC,8613,-0.96,-146.6,641.5,-8.0,410,8617,0.00,2.58,0.00,0.000,4,0.000,0.056,2583,3657,3431
$GC,8656,-0.96,-146.6,645.3,-8.3,412,8661,0.00,2.42,0.00,0.000,6,0.000,0.033,2583,2250,3430
$GC,8977,-0.96,-146.6,669.0,-6.5,428,8982,0.00,2.55,0.00,0.000,4,0.000,0.054,2583,3657,3430
$GC,9096,-0.96,-146.6,676.7,-6.0,433,9100,0.00,2.42,0.00,0.000,6,0.000,0.032,2583,2251,3430
$GC,9412,-0.96,-146.6,695.9,-6.8,448,9417,0.00,2.58,0.00,0.000,4,0.000,0.055,2583,3652,3429
$GC,9674,-0.96,-146.6,716.3,-8.1,459,9680,0.00,2.42,0.00,0.000,6,0.000,0.033,2583,2247,3429
$STATE,9843,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9843,begin apogee
$GC,9852,-0.36,0.0,727.9,6.5,468,9986,0.65,0.00,127.53,1.258,6,0.065,0.000,2722,1462,2832
$STATE,9987,end apogee,CONTROL_FINISHED_OK
$STATE,9987,begin climb
$GC,9990,0.96,146.6,727.8,0.0,475,10129,1.33,2.60,128.40,1.222,4,0.054,0.047,3008,2861,2232
$GC,10143,1.14,290.3,726.6,2.1,482,10279,0.17,2.55,125.10,1.211,6,0.036,0.042,3074,1447,1647
$GC,10590,1.14,290.3,681.6,9.9,504,10595,0.12,2.58,0.00,0.000,4,0.075,0.046,3047,2865,1638
$GC,10707,1.14,290.3,670.5,9.4,509,10712,0.00,2.53,0.00,0.000,6,0.000,0.041,3047,1448,1637
$GC,11025,1.14,290.3,642.2,10.2,524,11026,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1448,1635
$GC,11332,1.14,290.3,611.2,9.9,539,11336,0.00,2.50,0.00,0.000,4,0.000,0.043,3047,2861,1634
$GC,11382,1.14,290.3,606.3,10.1,541,11386,0.00,2.47,0.00,0.000,6,0.000,0.038,3047,1453,1634
$GC,11700,1.14,290.3,572.8,10.5,556,11701,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1453,1633
$GC,12008,1.14,290.3,541.3,9.9,571,12009,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1453,1633
$GC,12317,1.14,290.3,509.8,10.1,586,12321,0.00,2.50,0.00,0.000,4,0.000,0.043,3047,2865,1633
$GC,12356,1.14,290.3,505.8,9.9,588,12360,0.00,2.47,0.00,0.000,6,0.000,0.038,3047,1453,1632
$GC,12684,1.14,290.3,471.9,10.3,604,12686,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1453,1633
$GC,12991,1.14,290.3,441.1,9.7,619,12993,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,1453,1633
$GC,13300,1.14,290.3,412.1,9.5,634,13302,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1453,1633
$GC,13610,1.14,290.3,382.3,9.5,649,13614,0.00,2.50,0.00,0.000,4,0.000,0.042,3047,2869,1633
$GC,13650,1.14,290.3,378.5,9.1,651,13654,0.00,2.47,0.00,0.000,6,0.000,0.038,3047,1453,1633
$GC,13977,1.14,290.3,347.6,9.5,667,13978,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1453,1633
$GC,14285,1.14,290.3,318.0,9.7,682,14287,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1453,1633
$GC,14595,1.14,290.3,287.7,9.8,697,14599,0.00,2.47,0.00,0.000,4,0.000,0.041,3047,2862,1633
$GC,14639,1.14,290.3,283.1,11.2,699,14643,0.00,2.47,0.00,0.000,6,0.000,0.037,3047,1447,1633
$GC,14960,1.14,290.3,251.8,9.5,715,14961,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1447,1633
$GC,15269,1.14,290.3,223.2,9.1,730,15273,0.00,2.50,0.00,0.000,4,0.000,0.042,3048,2867,1634
$GC,15296,1.14,290.3,220.7,8.8,731,15300,0.00,2.47,0.00,0.000,6,0.000,0.038,3047,1456,1633
$GC,15612,1.14,290.3,192.5,8.9,746,15613,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1456,1633
$GC,15921,1.14,290.3,162.9,11.1,761,15922,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1456,1634
$GC,16231,1.14,290.3,127.1,11.4,776,16236,0.00,2.47,0.00,0.000,4,0.000,0.040,3047,2865,1634
$GC,16260,1.14,290.3,123.2,12.7,777,16264,0.00,2.47,0.00,0.000,6,0.000,0.036,3047,1448,1634
$GC,16576,1.14,290.3,88.9,10.0,792,16577,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1448,1634
$GC,16885,1.14,290.3,61.7,8.0,807,16886,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1448,1634
$GC,17196,1.22,351.7,42.3,4.3,822,17254,0.00,2.60,51.50,0.814,4,0.000,0.040,3047,2865,1396
$GC,17279,1.23,360.2,37.7,5.8,825,17294,0.00,2.53,8.77,0.693,6,0.000,0.037,3047,1456,1363
$GC,17617,1.25,376.5,15.1,5.6,842,17637,0.10,0.00,14.82,0.745,6,0.048,0.000,3102,1455,1296
$STATE,17737,end climb,SURFACE_DEPTH_REACHED
$STATE,17737,begin surface coast
$FINISH,0.3,1.026550
$STATE,17760,end surface coast,CONTROL_FINISHED_OK
$STATE,17760,begin surface
$SM_CCo,17845,0.00,0.000,0,0,1290,378.25
$SM_GC,1.20,11.80,0.00,0.00,0.025,0.000,0.000,394,2261,1290,-10.99,0.31,378.25
$IRIDIUM_FIX,6126.23,-926.99,061198,080844
$TT8_MAMPS,0.026845
$HUMID,1934
$INTERNAL_PRESSURE,8.12856
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,675.2,62.0
$24V_AH,23.2,57.095
$10V_AH,10.1,34.492
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,25.825,157.275,456.125,0.000,0.000,22.961,37.233,178.437,6.250,0.000,0.000,13.213,1595.667,13258.737,549.649,2006.089,796.735,0.000,1610.897,0.000,2151.765,0.000,45.411,0.000
$DEVICE_MAMPS,132.691,55.991,1257.880,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,673.755,665.754,550.102,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44221,849
$CAP_FILE_SIZE,132295,0
$CFSIZE,260165632,238526464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,120809,192337,6148.557,-927.198,37,1.2,37,-9.6